We didn't reinforce our rear subframe and we were fine, but we did not do so much off-road nd I don't think were as heavily loaded as Margus is (although we were at 450kg, fulltank, luggage and two travellers).
However, if you plan to and don't mind the hassle of removing the sub-frame, I think it worth it for peace of mind. A lot less hassle now to reinforce than fix in the middle of a lost track somewhere!!
Luggage? If the Jesse's are too small, I would recommend Project VND panniers. Huge on inside yet tidy on outside. Volvo sturdniess, with Honda practicality!
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Adventure: it's an experience, not a style!
(so ride what you like, but ride it somewhere new!)
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